/*
 * MapTansform.h
 *
 *  Created on: Oct 24, 2010
 *      Author: sanjeev
 */
#include <constants.h>
#include <library.h>

#ifndef MAPTRANSFORM_H_
#define MAPTRANSFORM_H_

class MapTransform {
    tf::TransformListener listener;
	tf::StampedTransform transform, rtransform;
	int cnt;

	void get_map_odom_transform( );
public:
	MapTransform();
	virtual ~MapTransform();
	void point_in_map(double &x,double &y);
	void get_footprint_in_odom(double &x,double &y,double &t);
	void updateMapOdomTransform();
};

#endif /* MAPTANSFORM_H_ */
